Unidirectional actuated exoskeleton device

ABSTRACT

The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.

CROSS-REFERENCE TO RELATED APPLICATION

This patent document claims priority to earlier filed U.S. ProvisionalPatent Application No. 62/407,671, filed on Oct. 13, 2016, and U.S.Provisional Patent Application No. 62/433,357, filed on Dec. 13, 2016,the entire contents of which are incorporated herein by reference.

GOVERNMENT SUPPORT

This invention was made with government support under W911QY-16-C-0072from the United States Army.

BACKGROUND OF THE INVENTION

The invention relates generally to an exoskeleton, a device worn by aperson to augment physical abilities. Exoskeletons can be consideredpassive or active. Passive devices do not require an energy source, suchas a battery. Active devices require an energy source to powerelectronics and usually one or many actuators. It is desirable forexoskeletons to be as lightweight as possible, since the user must carryand move the device along with the body. It is also desirable for thesedevices to be capable of providing large amounts of force, torque and/orpower to the human body in order to assist with motion. These tworequirements of low mass and high force/torque/power are often competingrequirements and design tradeoffs must be made. Furthermore, it isdifficult to apply large forces and torques to the human body. Themusculoskeletal system of the human body is capable of sustainingincredible amounts of torque and force, but the exterior of the body isnot accustomed to withstanding similar magnitudes of force/torque. Alongwith being lightweight, and capable of producing highforces/torques/powers, exoskeletons should also be comfortable andefficient at transferring energy to the human. Furthermore, the deviceshould not interfere with the natural range of motion of the body.

It is also desirable for active exoskeletons to be energy efficient andeasily controlled. Active exoskeletons require an energy source to powerelectronics, sensors and usually actuators. Typically, batteries areused with electric motors. However, compressed air can also be used topower pneumatic exoskeletons. The exoskeleton should be as efficient aspossible at converting the energy source into useful mechanicalforce/torque/power. Since the user is often required to also carry theenergy source, an efficient device results in a lighter device, aprimary design objective. Onboard electronics allow designers to controlthe exoskeleton, but the device can be mechanically designed to allowfor easier control. For example, active devices with a lowertransmission ratio are often easier to control and back drive. Outputforce and torque sensors can also be used to make controlling easier.

SUMMARY OF THE INVENTION

The present invention preserves the advantages of prior art exoskeletondevices. In addition, it provides new advantages not found in currentlyavailable exoskeleton devices and overcomes many disadvantages of suchcurrently available exoskeleton devices.

The invention is generally directed to the novel and unique exoskeletondesigns that address the problems associated with known exoskeletondevices relating to design challenges of device mass, force/torque/poweroutput, comfort, efficiency and controllability, and the like.

The present invention provides an autonomous exoskeleton that includesone or more actuators, one or more controllers, one or more sensors withone or more unidirectional transmissions. The present invention alsoprovides a mechanical joint in parallel with a biological joint. Theexoskeleton device preferably includes an electric motor and a winch,chain, belt, cam transmission or other mechanism for providingunidirectional force. Moreover, a controller, a motor angle sensor,joint angle sensor and/or force sensor may be provided. The motor may beany type of motor, but is preferably brushless in configuration whereits diameter is larger than its length.

It is therefore an object of the present invention to provide a new andnovel exoskeleton device that is compact, lightweight and inexpensive tomanufacture yet is powerful and easy to control to address the problemsassociated with prior art exoskeleton devices.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features which are characteristic of the present invention areset forth in the appended claims. However, the invention's preferredembodiments, together with further objects and attendant advantages,will be best understood by reference to the following detaileddescription taken in connection with the accompanying drawings in which:

FIG. 1 is a perspective view of the exoskeleton device of the presentinvention;

FIG. 2 is a reverse perspective view of the exoskeleton device of thepresent invention of FIG. 1;

FIG. 3 is the reverse perspective view of the exoskeleton device of thepresent invention of FIG. 1 with various components removed forillustration purposes to show attachment of the drive belt to the drivespool at an ankle joint;

FIG. 4 is an exploded perspective view of the exoskeleton device of thepresent invention of FIG. 1;

FIG. 5A-5C show front views of the exoskeleton device of the presentinvention with different degrees of eversion and inversion of the anklejoint;

FIGS. 6A-C show front views of the exoskeleton device of the presentinvention with different degrees of dorsiflexion of the ankle joint;

FIG. 7 is a reverse perspective view of the exoskeleton device of thepresent invention of FIG. 1 with various components removed forillustration purposes to show the motor that drives the drive spool; and

FIG. 8 is a perspective view of an alternative embodiment of theexoskeleton device of the present invention used at a knee joint.

DETAILED DESCRIPTION OF THE INVENTION

Referring first to FIGS. 1-4 and 7, details of the exoskeleton 30 of thepresent invention is shown. FIGS. 1 and 2 show two different perspectiveviews of the exoskeleton 30 from the outside. Details of the differentcomponents is shown in FIGS. 3 and 7 where various components areremoved for illustration purposes.

Referring to FIGS. 1 and 2, the exoskeleton 30 generally shows a shanktube 24 with a medial ankle joint bearing housing 26 located on thelower end and a medial actuator housing 22 located at the top thereof.As will be discussed in connection with FIG. 2, a motor 1, resides inlateral actuator housing 19 that includes a control electronics cover 20thereon. Attached to the medial actuator housing 22 is a calf attachment11 to secure the upper portion of the exoskeleton to a calf portion ofthe user's leg. Details of such attachment is shown in connection withFIGS. 5A-5C and 6A-6C below. The calf attachment 11 preferably includesa shin slide 12 and a shin guard 13 as well as a shin pad 14 foradditional custom adjustment for better cushioning and comfort for theuser. The components of the calf attachment may be adjusted, as is wellknown in the art, to provide a tight but not constricting fit.

As a result, this attachment to the upper leg of the user transfersnormal forces to the anterior part of the leg, is lightweight, easy andquick to secure and adjust, can adapt to many leg sizes and shapes, hasminimal bulk to avoid interference with other pieces of equipment, doesnot limit range of motion (minimal medial, anterior and posteriorprotrusions), can be used over pants and is comfortable to the user.

The medial ankle joint bearing housing 26 includes a lateral ankle jointbearing housing 25 the pivotally receives ankle joint cross member 5therein. The free end of the lever arm 4 is fixed to the joint crossmember 5. Therefore, dorsiflexion motion of an ankle joint causes theankle joint lever arm 4 to move accordingly, namely in the direction Ashown in FIG. 2. A composite footplate, generally referenced as 6, has anumber of components. It includes a socket portion 6 a, a verticalconnector portion 6 b and composite shank 6 c. Eversion and inversion ofan ankle joint is permitted by the pivoting action of the rounded freeend 6 a of composite footplate 6 within ankle joint cross member 5 in acylindrical shaft and socket type pivoting interconnection 6 a, namelyin direction B shown in FIGS. 1 and 2.

A lower free end 4 b of lever arm 4 is fixed connected to the anklejoint cross member 5 while the upper free end 4 a of the lever arm 4 isconnected to drive belt 3. The lever arm 4 is preferably angled upwardsat a 50-degree angle so that it does not protrude beyond the verticalplane at the back of the heel. This angling also improves the variabletransmission profile.

The drive belt 3 is wound up and unwound about a drive spool 2 driven bymotor 1, as shown in FIG. 3, which has medial actuator housing 22removed for illustration purposes. With the housing 22 removed in FIG.3, control electronics 15 and power jack 18 may be seen residingtherein.

Referring now to FIG. 4, an exploded view of the exoskeleton 30 of thepresent invention is shown. The ankle motor 1 is mounted between themedial actuator housing 22 and the lateral actuator housing 19, namely,within seat 19 a of lateral actuator housing 19. Control electronics 15are mounted to the exterior surface of the lateral actuator housing 19and cover 20 is affixed thereon. A motor angle sensor magnet mount 16 isprovided to carry motor angle sensor magnet 17. The power jack 18 ismounted to the lateral actuator housing 19 as well. Drive spool 2 isfixed to motor 1 so that rotation of motor 1 rotates the drive spool 2.A medial motor bearing 21 is also provided between the spool 2 andmedial actuator housing 22 for improved smooth operation. The free end 2a extends clear of inner face 22 a of the medial actuator housing withthe free end 3 a of drive belt 3 affixed thereto. Thus, as will bedescribed below, rotation of drive spool 2 causes the drive belt 3 to bewound and out as it is being wrapped and unwound from about the drivespool 2. The configuration of the drive spool 2 may be modified, asneeded. For example, the diameter, length, profile and eccentricity ofthe drive spool 2 may be modified, as needed to achieve the requiredwinding and unwinding action of the drive belt 3.

The calf attachment 11 is fastened to the medial actuator housing 22 byfasteners 11 a. The cushioning shin pad 14, shin guard 13 and shin slide12 are adjustably interconnected with one another to secure the upperportion of the exoskeleton 30 to the user's body, such as a leg calf.Other structures and configurations may alternatively be used to securethe exoskeleton 30, as desired.

Still referring to FIG. 4, the shank tube 24 includes an upper shanktube ferrule 23A to enable it to be mounted between the lateral actuatorhousing 19 and medial actuator housing 22. A bottom shank tube ferrule23B enables the lower portion of the shank tube 24 to be secured betweenthe lateral ankle joint bearing housing 25 and medial ankle jointbearing housing 26.

The ankle joint cross 5 includes a bottom socket 5 c and a pivot member5 b at the top thereof. While the shank tube 24 is fixed to the lateralankle joint bearing housing 25 and medial ankle joint bearing housing26, the ankle joint cross 5 is pivotally connected to the lateral anklejoint bearing housing 25 and medial ankle joint bearing housing 26wherein pivot boss 5 b sits within seat 26 a of joint bearing housing 26via a medial ankle joint bearing 10. On the opposing side, another pivotboss 5 c is provides that pivotally communicates with lateral anklejoint bearing housing via lateral ankle joint bearing 9. An ankle anglejoint sensor 7 and ankle angle joint sensor magnet 8 are provided tosense rotational movement of ankle lever arm 4 relative to the shanktube 24 and the user's calf position.

The ankle joint cross also includes a socket 5 a to pivotally receivecylinder 6 a of composite footplate 6, which also include a connectormember 6 b and composite shank 6 c that may receive a sole of footwearor may be incorporated directly into a sole of footwear (not shown inFIG. 4). Ankle joint cross cap 27 is provided on the free end thereof.As discussed in FIGS. 1 and 2 above, such a cylinder and socketconfiguration permits eversion and inversion of the ankle joint. Furtherdetails of such capability are shown in FIGS. 5A-5C where eversion andinversion movement of the ankle joint and, in turn, eversion andinversion movement of the footwear 32 is permitted due to the cylinderand socket arrangement movement in the direction of the arrows shown.

FIG. 7, which has many components removed for illustration purposes,shows an alternative embodiment 230 of an exoskeleton in accordance withthe present invention. For example, the eversion and inversion rotaryjoint 205 that rotates relative to footplate 206 may be configured as aforked joint where footplate 206 receives a free end of shank 208 with asensor 207. An ankle motor 201 may be incorporated into the opposingfree end of the shank 208 to provide the rotating drive spool 202. Thelever arm 204 may be pivotally connected to a region of the footplate toprovide the desired direction of rotation with movement of the bodyjoint where the drive belt 203 is wound and unwound from drive spool202.

FIG. 8 shows a further alternative embodiment of the present inventionthat provides an exoskeleton that is adapted for use at a knee joint. Amotor 100 is provided with a drive spool 101 is secured to the user by athigh attachment 110 and a shank attachment 111. Rigid shank housing 109is connected to the shank attachment 111 where the shank housing 109pivotally connects to joint pulley 105 which is co-axial with therotation axis 114 of the knee joint. Rigid thigh housing 102 pivotallyconnects the motor 100 to the joint pulley 105. A knee flexion belt 104is provided which is connected to the drive spool 101 at 113 and to thejoint pulley at 115. A knee extension belt is 108 also provided, whichis connected to the drive spool at 112 and to the joint pulley at 116.When the knee extension belt 108 is engaged, the knee flexion belt 104exhibits slack. When the knee extension belt 108 is disengaged andslack, the knee flexion belt 103, becomes engaged, as shown in brokenlines. Thus, in this embodiment, dual unidirectional control in theextension and flexion directions can be achieved.

In accordance with the present invention, in operation and use that canbest be seen in FIGS. 5A-5B, calf attachment 11 attaches to the shin 210of the leg 212 of a user as described above to secure to a rigidstructure, such as the shank tube 24, located on the lateral side of theleg 212. An integrated strain gage (or any other force sensor) may beprovided to measure the force applied to the leg 212. The jointstructure shown in detail in FIGS. 1-3 and 4 can be a simple rotaryjoint or a more complex combination of joints such as two rotary jointswith different axis of rotation to allow for natural foot movement suchas plantar flexion, dorsiflexion, rotation, eversion and inversion. Thepreferred embodiment 30 includes such multiple joints with differentaxes of rotation. The composite shank 6 c of composite footplate 6 ispreferably integrated into footwear, such as a boot 32, with an externalstructure that allows for moments to be applied about the ankle joint inthe direction of dorsiflexion and plantarflexion. The composite shank 6c can also be directly integrated into the sole of the shoe. Forexample, a carbon fiber composite shank 6 c may be integrated into theheel of a boot, or the like. Alternatively, an integrated heel plate canalso have extensions (not shown) that extend from the heel to theforefoot, allowing for large moments to be applied to the foot.

The composite shank 6 c of the composite footplate 6 is preferablydirectly integrated into the sole of a shoe 32. The composite foot plate6 transmits the forces developed by the actuator into the ground andfoot 33 of the user. The functions of the foot plate 6 can be separatedinto two general functions, 1) interacting with the foot 33 and 2)interacting with the actuator of the exoskeleton 30.

Preferably, the composite foot plate 6 is directly integrated into thesole 34, between the rubber outsole that interfaces with the ground, anda soft foam sole 35 that separates the footplate 6 and foot 33. Thefootplate 6 must transmit actuator forces into the ground and into thefoot 33 of the user, while remaining flexible and comfortable. This isachieved with a variable thickness carbon-fiber composite foot plate 6.The foot plate 6 is preferably approximately 3 mm thick under the heelof the foot 33, and thins out to about 1 mm under the toes. The thinningof the footplate 6 allows for toe flexion, while also storing andreleasing elastic energy. Layers of unidirectional carbon fiber are laidup along the major axis of the foot 33 to provide strength. Outer layersof weaved carbon fiber are used for composite stability and toaccommodate twisting loads.

The thickness of the footplate 6 may be adjusted to suite theapplication at hand. The footplate 6, particularly the composite shankportion 6 c, should be as stiff as possible to efficiently transmitexoskeletal torque to the foot 33, but it must also be flexible enoughto maintain natural foot range of motions. Current standard militaryboots, such as the McRae Hot Weather boots, are much stiffer than atypical standard civilian boot. This is partially due to a compositeshank that is integrated into the sole. The composite shank providesrigid arch support and protects the foot 33 from repeated exposure tosharp items. Custom carbon fiber footplates are integrated into alighter and more flexible tactical boot, such as the Rocky Elements ofService. The carbon fiber shank insert 6 c of the present inventionreplaces the known composite shank and will provide many of the samefunctions as the composite shank in the McRae boot, while alsointerfacing with the exoskeleton 30, in accordance with the presentinvention. Thus, the exoskeleton 30 of the present invention can beeasily incorporated into existing footwear 32.

Also, the second function of the composite foot plate, generallyreferred to as 6, is to connect and interact with the exoskeleton 30.The exoskeleton 30 includes the motor 1, electronics 15, drive spool 2and lever 4, as discussed above. The vertical connector member 6 bextends from a lateral side of the footplate shank 6 c, under the heel.Vertical connector 6 b also includes bearings for the dorsiflexion andplantarflexion. Therefore, the composite footplate 6 is preferablymanufactured as a solid unitary member with a defined angle between thefootplate 6 c and vertical connector member 6 b. Such angle may bemodified as desired to suit given anatomy and provide optimal alignment.Custom composite footplates configurations can be provided toaccommodate any single user.

Since the vertical connector member 6 b includes a cylinder and socketjoint connection, eversion and inversion movement are possible toprovide and a degree of freedom to accommodate such eversion andinversion motion, as best seen in FIGS. 5A-5C. The ankle joint crossmember 5 is also rigidly connected to the lever 4. This enables themotor 1 to drive the drive spool 2 to windup the drive belt 3 to, inturn, actuate the lever 4, causing the lever 4 and connected ankle jointcross 5 to plantarflex in accordance with the present invention. Theplantarflexing ankle joint cross 5 then imparts these forces on thefootplate 6 c, while still allowing the footplate 6 c to evert orinvert. An articulated eversion/inversion joint adds some mass andcomplexity, but it allows for desirable free eversion/inversion motionand adapts to any user without imparting neutral-position forces. Thisarticulated eversion/inversion joint also simplifies the geometry of thevertical connector member 6 b, since it no longer needs to be flexiblein the eversion/inversion direction. Furthermore, the lever arm 4 isintegrated into/connected to the ankle joint cross member 5 and not intothe composite footplate 6, simplifying the manufacturing process for thefootplate. The eversion/inversion articulated joint can accommodate thecomplete range of motion achieved by the human ankle.

The articulate eversion/inversion enables the exoskeleton to be quicklydiscarded. The ankle joint cross 5 slides into the vertical connectormember 6 b and is then secured with a few set screws. The screws can bereplaced with a locking feature, such as a thumb screw, a magneticlocking feature, or the like (not shown). Once the locking feature isdisengaged, the foot plate portion 6 can be disengaged. Since the leverarm 4 and dorsiflexion/plantarflexion joint is no longer integrated intothe composite foot plate 6, the foot plate 6 only differs from a regularboot in that it includes the vertical connector member 6 b, which can beabout 70 mm tall, 35 mm wide, 5 mm thick, and sits about 20 mm away fromthe lateral side of the foot. Shoes 32 with the composite footplate 6only can be worn with minimal effect if the exoskeleton capability isnot needed. Quickly disconnecting the upper portion of the exoskeleton30 from the shoe, and leaving the foot plate 6 intact, could be valuablein situations where the operator needs to quickly remove theexoskeleton.

The exoskeleton 30 uses the electric motor 1, as in FIG. 4, and 201 ofFIG. 7, to drive a unidirectional actuator. The motor is driven by apower source, such as a battery (not shown). This unidirectionalactuator is an actuator that can apply forces or torques in onedirection but exert little or no force or torque in the oppositedirection. The unidirectional actuator of the present invention may onlybe unidirectional for a certain range of motion, if desired. The ankledrive belt 3, as shown in FIGS. 1-4, is one preferred embodiment of aunidirectional actuator because such a drive belt 3 can only pull whenit is being wound onto the drive spool 2 and cannot push as it is beingpaid out from the drive spool 2. Other examples of unidirectionalactuators (not shown) that may be employed with the present inventionare winches, 5-bar linkage, Linkage with 5 or more bars, 4-bar linkagewhere one of the links is a string or cable, 5-bar linkage where one ofthe links is a string or cable, cam with an uncaptured follower, arotary actuator with a slip clutch, a rotary actuator where mechanicalfeature interferes and transmit torque in one direction but do notinterfere in the opposite direction, a linear actuator that pulls on astring or cable and a linear actuator that pushes on a mechanicalfeature without being connected, and the like. These alternatives aredeemed to be within the scope of the present invention.

In accordance with the present invention, the drive belt 3 increases therange of unidirectionality, but is not required to be flexible.Furthermore, the drive belt 3 may be elastic in nature that storesenergy in tension. While the motor 1 is shown with a direct drive of thedrive spool 2 to take up the drive belt 3, a transmission may be usedbetween the motor and spool as well. For example, during manyactivities, the human body exerts greater torques as the joint extendsor flexes. A variable transmission can be used to increase thetransmission ratio during angular regions that typically require greaterlevels of torque. In the case of an ankle exoskeleton, for example,linkage can be designed to have a higher transmission ratio as the ankledorsiflexes. Various other transmissions may be used and still be withinthe scope of the present invention. These include a winch with variableradius spool, a timing belt pulley with variable radius, a chain andsprocket with variable radius and a cam and follower configuration.

Referring to FIGS. 5A-5C and 6A-6C, it can be seen that the exoskeleton30 does not protrude from the anterior surface of the body. The embeddedfootplate 6 exerts forces beneath the heel of and against the groundnext to the forefoot. As discussed above, belts and chains can be usedin a manner similar to a winch. In the preferred embodiment 30 of thepresent invention, a drive 3 is employed. More specifically, the drivebelt 3 is wrapped around the drive spool 2 which is driven by motor 1.The motor 1 applies tension to the drive belt 3 in a unidirectionalmanner, namely, when the drive belt 3 is being taken up about the drivespool. Furthermore, the radius of the drive spool 2 can be configured toachieve specific force profiles. These are just one of the manydifferent configurations and mechanisms that may be used to carry outthe present invention.

More specifically, the exoskeleton 30 of the present invention uses aunidirectional drive spool actuator where the drive spool 2 takes up thebelt. While the drive spool 2 is preferably non-eccentric, it may beeccentrically configured instead. If an eccentric center of rotation ofthe drive spool is used, variable transmission ratios may be achievedbeyond the change in transmission ratios as the wrapped drive belt 3gets larger and smaller, if desired.

FIG. 6A shows a side view of the preferred embodiment of the exoskeleton30 of the present invention. The actuator region of the lever arm 4within with the lateral ankle joint bearing housing 25 and medial anklejoint bearing housing 26 is at the most extreme dorsiflexion angle. Thedrive belt 3 is pinned or rigidly connected to the drive spool 20. FIG.6B shows a side view of the exoskeleton 30 of the present invention. Theactuator is at a slight or no dorsiflexion angle. FIG. 6C a side view ofthe exoskeleton 30 with the exoskeleton 30 actuated a plantarflexionangle with the drive belt 3 partially wound about the drive spool 2.Since the drive belt 3 is pinned or rigidly connected to the drive spook2, it can only apply a plantar flexion torque and is not able to apply adorsiflexion torque. As a result of engagement of the motor 1, the drivebelt 3 is wound about the drive spook to take up the drive belt 3. Asthe drive belt 3 winds around the drive spool 2, the transmission ratiocan be configured to decrease upon rotation of the drive spool 2.

It should further be noted that FIG. 6A shows a side view of theexoskeleton 30 and boot 32 with the exoskeleton actuated is at the mostextreme dorsiflexion angle. The unidirectional drive belt 3 is fixed tothe variable radius drive spool 2 and can only apply tension forces. Asthe variable radius drive spool 2 rotates, the radius of the resultantspool increases, reducing the overall transmission ratio. The variableradius drive spool 2 is driven by the motor 1, which is preferablybrushless. The unidirectional drive belt 3 is shown as a belt but itcould also be a timing belt, a cord, series of parallel cords, flatfiber reinforced belt (fibers are surrounded by an abrasion resistantrubber such as urethane, polyurethane, silicone or neoprene, forexample), flat steel belt or any other flexible structure that iscapable of wrapping over small diameter spools, such as those less than50 mm, and capable of withstanding high-tension forces, such as greaterthan 200 N. In FIG. 6B, the exoskeleton 30 and boot 32 are positioned ata neutral angle. FIG. 6C shows the exoskeleton at the most extremeplantarflexion angle.

Since a belt is used that winds around itself, the diameter of theoverall spool increases, which reduces the transmission ratio.Therefore, reducing the thickness of the belt also reduces the effect onthe transmission ratio, but it also generally reduces the strength ofthe belt. Thus, reducing the transmission ratio as the deviceplantarflexes may improve efficiency since the peak torque occurs duringmaximum dorsiflexion and decreases during plantarflexion.

In general, the motor 1 may be directly connected to the drive spool 3or first connected to a reduction transmission such as a geartransmission, pulley transmission, timing belt transmission, cycloidtransmission, friction transmission, or harmonic transmission. While anytype of motor may be used with the present invention it is preferredthat a custom motor 1 be used, such as a D8.0 motor with theFlexSEA-Rigid electronics. The custom D8.0 motor has a thickness in therange of 17.2 mm, which is well suited for use with the presentinvention. Furthermore, it includes features that reduces the length ofthe drive spool 2 and the thickness of the electronics 15. The D8.0motor has increased power density of the actuator to limit the lateralprotrusion of the device, which is particularly advantageous for thepresent exoskeleton 30. The axis of the motor 1 is notably perpendicularto the major axis of the leg and perpendicular to the sagittal plane.Electronics, such as FlexSEA-Rigid electronics, are attached to thelateral side of the motor 1.

In use, the motor 1 is powered and controlled by the onboard controlelectronics 15 and a battery (not shown). Angle of the motor 1 ismeasured with the motor angle sensor 16, 17 and the angle of the ankleoutput joint is preferably measured with a separate angle joint sensor7, 8. The sensor can be any type of sensor, such as an optical encoder,magnetic angle sensor, hall effect sensor, potentiometer, capacitivesensor, inductive sensor, or a linear variable differential transformer(LVDT).

The motor angle sensor 16, 17 and ankle angle sensor 7, 8 are preferablyrelated when the actuator is engaged and exerting torque, butindependent when the actuator is not engaged. Thus, during operation,the control electronics 15 controls the take up and pay of the drivebelt about the drive spool. The different components of the exoskeleton30 are electronically interconnected to the control electronics 15 sothey may be controlled and monitored as required. For example, thesensors, motor 1 and power supply, such as a battery (not shown), areelectronically connected to the control electronics 15 whereby thetiming of such take up and pay out of the drive belt 3 via the motor 1can be timed or synchronized to the gait of the user, with theassistance of the sensors, so that the plantar flexion torque can beapplied by the exoskeleton at the appropriate time to use the workcreated by that torque to assist in the plantar flexion of the joint to,in turn, facilitate walking.

For example, the control electronics 15 can be programmed to carry outdifferent tasks, such as inertial sensor readings, clock synchronizationbetween the microcontrollers, serial and PC communication, non-volatilememory interface, and the like. These features enable better high-levelcontrollers. For example, a 168 MHz Cortex-M4F STM32F427 controller maybe used to carry out computing cycles available for executing high-levelalgorithms concerning control of the exoskeleton 30. Field ProgrammableGate Arrays (FPGA), Complex Programmable Logic Devices (CPLD),Application Specific Integrated Circuits (ASIC), and GraphicalProcessing Units (GPU) may also be used for hardware math accelerationand control. This makes it also possible to use machine learningtechniques in real time.

The described exoskeleton can be worn on one leg or both legs. When theexoskeleton is worn in a bilateral configuration, the two exoskeletonscan communicate with wires or wireless communication protocols to sharestate information for purposes of control and telemetry.

It would be appreciated by those skilled in the art that various changesand modifications can be made to the illustrated embodiments withoutdeparting from the spirit of the present invention. All suchmodifications and changes are intended to be covered by the appendedclaims.

What is claimed is:
 1. A biomechanical joint for generating torque aboutan axis of a body joint, comprising: a first structure connected to afirst body segment on the proximal side of a body joint; a secondstructure connected to a second body segment on the distal side of thebody joint; the first structure and the second structure being pivotallyconnected to each other; an electric motor having a motor axis ofrotation; the motor attached to the first structure; the motor axis ofrotation being perpendicular to the major axis of the first bodysegment; the electric motor being configured and arranged with aunidirectional transmission; and the unidirectional transmissionconnected to both the first structure and second structure.
 2. Thebiomechanical joint of claim 1, wherein the first structure and thesecond structure are connected via a rotational joint.
 3. Thebiomechanical joint of claim 2, wherein the rotational joint includes arotary encoder.
 4. The biomechanical joint of claim 2, wherein therotational joint includes a plurality of bearings.
 5. The biomechanicaljoint of claim 1, wherein a mass of the exoskeleton is located on alateral, anterior, and/or posterior sides of the first body segment andsecond body segment.
 6. The biomechanical joint of claim 1, wherein theunidirectional actuator is a winch and cord where the winch isconfigured to wind up the cord.
 7. The biomechanical joint of claim 6,wherein the cord has parallel or twisted fibers.
 8. The biomechanicaljoint of claim 6, wherein the cord is manufactured of a materialselected from the group consisting of UHMWPE, DYNEEMA, KEVLAR, SPECTRAand VECTRAN.
 9. The biomechanical joint of claim 6, wherein the cord isa composite of fibers and carries a flexible coating of rubber orplastic.
 10. The biomechanical joint of claim 6, wherein the cord iswound and carried by a spool.
 11. The biomechanical joint of claim 10,wherein the spool is detachable, and the cord is replaceable.
 12. Thebiomechanical joint of claim 6, wherein the cord is configured as a bandor belt.
 13. A control system for biomechanical exoskeleton joint forgenerating torque about an axis of rotation of a body joint, comprising:a left exoskeleton member configured and arranged on a left leg; a rightexoskeleton member configured and arranged on a right leg; a firstcontrol device connected to the left exoskeleton member and a secondcontrol device connected to the right exoskeleton member; the leftexoskeleton device and the right exoskeleton device communicating witheach other via wired connection or wirelessly; a left actuator and aright actuator respectively mechanically connected to the left leg andthe right leg; mechanical disengagement of the respective left actuatorand right actuator effectuates no torque to the respective left andright leg; at least one sensor configured and arranged to sense at leastone characteristic of the left exoskeleton device and/or the rightexoskeleton device during movement of the left or right leg; the sensorgenerator sensor data; and the first control device and/or secondcontrol device using the sensor data to control the left exoskeletonmember and/or the right exoskeleton member.
 14. The control system ofclaim 13, wherein the at least one sensor is selected from the groupconsisting of: an angle sensor, velocity sensor, EMG sensor,magnetometer, accelerometer, gyro sensor and force sensor.
 15. Thecontrol system of claim 13, wherein the left exoskeleton device and theright exoskeleton device communicate wirelessly with each other byBluetooth, Wi-Fi, RFID, passive or active connection.
 16. The controlsystem of claim 13, wherein sensor data is collected while the user istaking steps.
 17. The control system of claim 13, wherein sensor data iscollected while joint torque is being applied to further inform thecontrol device.
 18. The control system of claim 13, wherein the data ofthe control system can be read/written from a computer server or cloudserver.
 19. The control system of claim 13, wherein parameters ofoperation of the left exoskeleton and right exoskeleton are learned fromone user and is sharable with other users.
 20. The control system ofclaim 13, wherein the state of one of the left exoskeleton or rightexoskeleton can change the control strategy of the other exoskeleton.21. The control system of claim 13, wherein the first control device andthe second control device are connected to a third control device.
 22. Acomposite foot plate for footwear for a foot having a sole and a mainbody, comprising: a footplate integrated into a sole of the footwear; anouter sole located between the footplate and ground; an inner solelocated between the footplate and a foot; the footplate extending upwardtoward an ankle joint of the foot on the lateral and/or posterior sidethereof; the footplate being made of composite material with fibers in aplurality of orientations and is flexible at a metatarsal joint region;the footplate being varied in thickness.
 23. The composite foot platefor footwear of claim 22, wherein the footplate includes an upstandingportion which is flexible to allow for misalignment andeversion/inversion.
 24. The composite foot plate for footwear of claim22, wherein the upstanding portion includes a lever arm that interactswith the exoskeleton actuator.
 25. The composite foot plate for footwearof claim 22, wherein the footplate is made of a material selected fromthe group consisting of unidirectional CF, twill weave CF, and/or plainweave CF.
 26. The composite foot plate for footwear of claim 22, whereinthe upstanding portion connects to a rotational joint in alignment withthe ankle axis of rotation.
 27. The composite foot plate for footwear ofclaim 22, wherein the footplate further includes embedded sensorsselected from the group consisting of force sensors, pressure sensors,strain sensors, IMU sensor, humidity or liquid sensor, and temperaturesensors.
 28. The composite foot plate for footwear of claim 22, whereinthe footplate includes a mechanical joint that allows foreversion/rotation.